相关论文: A Design-Space Exploration for Allocating Security…
Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert demonstrations. However, policies learned through IL suffer from state distribution shift at test time, due to compounding errors in action prediction…
The conventional approach to scaling Software Defined Networking (SDN) controllers today is to partition switches based on network topology, with each partition being controlled by a single physical controller, running all SDN applications.…
The task allocation problem in multi-robot systems (MRTA) is an NP-hard problem whose viable solutions are usually found by heuristic algorithms. Considering the increasing need of improvement on logistics, the use of robots for increasing…
Simultaneous multithreading processors improve throughput over single-threaded processors thanks to sharing internal core resources among instructions from distinct threads. However, resource sharing introduces inter-thread interference…
Reachability analysis is used to determine all possible states that a system acting under uncertainty may reach. It is a critical component to obtain guarantees of various safety-critical systems both for safety verification and controller…
Computational Grids are a new trend in distributed computing systems. They allow the sharing of geographically distributed resources in an efficient way, extending the boundaries of what we perceive as distributed computing. Various…
The power grid is a critical infrastructure essential for public safety and welfare. As its reliance on digital technologies grows, so do its vulnerabilities to sophisticated cyber threats, which could severely disrupt operations. Effective…
Seismic sensing has emerged as a promising solution for border surveillance and monitoring; the seismic sensors that are often buried underground are small and cannot be noticed easily, making them difficult for intruders to detect, avoid,…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
The increasing labor costs in agriculture have accelerated the adoption of multi-robot systems for orchard harvesting. However, efficiently coordinating these systems is challenging due to the complex interplay between makespan and energy…
Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…
Coordinating time-sensitive deliveries in environments like hospitals poses a complex challenge, particularly when managing multiple online pickup and delivery requests within strict time windows using a team of heterogeneous robots.…
The AMTHA (Automatic Mapping Task on Heterogeneous Architectures) algorithm for task-to-processors assignment and the MPAHA (Model of Parallel Algorithms on Heterogeneous Architectures) model are presented. The use of AMTHA is analyzed for…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
The Internet of Things paradigm improves the classical information sharing scheme. However, it has increased the need for granting the security of the connected systems. In the industrial field, the problem becomes more complex due to the…
Cyber-physical systems (CPSs) in modern real-time applications integrate numerous control units linked through communication networks, each responsible for executing a mix of real-time safety-critical and non-critical tasks. To ensure…
Task allocation in multi-human multi-robot (MH-MR) teams presents significant challenges due to the inherent heterogeneity of team members, the dynamics of task execution, and the information uncertainty of operational states. Existing…
We present Hydra, a low-latency, low-overhead, and highly available resilience mechanism for remote memory. Hydra can access erasure-coded remote memory within a single-digit microsecond read/write latency, significantly improving the…
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…